Dynamically reconfigure the inflation radius

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Node to help: http://wiki.ros.org/dynamic_reconfigure

There is a tutorial for how to do this as well: http://wiki.ros.org/dynamic_reconfigu...

This question and answer will help you a lot if you want to do it in C++. NOTE: the push_back use in the answer code creates issue but the rest of it is good. I used this as a start for my code below : https://answers.ros.org/question/1227...

You'll see move base has a service called "/move_base/set_parameters". That is the service call you'll substitute into code below.

And finally how I do it in C++ for raspicam node. I am using integers. You'll need to use floats or doubles for inflation radius.

#include <dynamic_reconfigure/DoubleParameter.h>
#include <dynamic_reconfigure/Reconfigure.h>
#include <dynamic_reconfigure/Config.h>

    dynamic_reconfigure::ReconfigureRequest srv_req;
    dynamic_reconfigure::ReconfigureResponse srv_resp; 
    dynamic_reconfigure::IntParameter integer_param;
    dynamic_reconfigure::Config conf;

    int cameraControl(int ss, int iso)
    {
      conf.ints.resize(2);
      ROS_INFO_STREAM("ROBOT-STATE: cameraControl: shutter_speed: " << ss << "\tISO : " << iso);
      integer_param.name = "shutter_speed";
      integer_param.value = ss;
      conf.ints.at(0) = integer_param;

      integer_param.name = "ISO";
      integer_param.value = iso;
      conf.ints.at(1) = integer_param;
      srv_req.config = conf;

      ros::service::call("/raspicam_node/set_parameters", srv_req, srv_resp);

      return 1;
    }